Method and apparatus for obtaining location information using ranging block and ranging rounds

ABSTRACT

Aspects of the subject disclosure may include, for example, generating, by a server operating as a controller in a locating system, a schedule for a group of anchors operating as controlees in the location system that is utilized for determining position information for one or more mobile devices, where the schedule is for a ranging block period; and provisioning, by the server, the schedule to the group of anchors to cause anchor pairs of the group of anchors to wirelessly transmit REQ messages and RSP messages to each other according to the schedule operating as an initiator and a responder, respectively, wherein the one or more mobile devices overhear the REQ messages and RSP messages being transmitted between the anchor pairs and calculate a TDOA measurement based on the REQ messages and RSP messages. Other embodiments are disclosed.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of priority to U.S.Provisional Application No. 63/208,099, filed Jun. 8, 2021. The contentsof each of the foregoing are hereby incorporated by reference into thisapplication as if set forth herein in full.

FIELD OF THE DISCLOSURE

The subject disclosure relates to a method and apparatus for obtaininglocation information using ranging block and ranging rounds.

BACKGROUND

Determining location information between objects can serve multiplepurposes such as predicting and mitigating collisions between objects,tracking distances between objects, enforcing distancing betweenobjects, inventory management, or combinations thereof. Objects caninclude people, mobile machinery such as forklifts and robots, vehiclescontrolled by individuals or driverless, or other objects for whichlocation management and/or tracking may be desirable. Locationinformation can correspond to distances between objects, trajectory ofobjects, speed of objects, positions of objects, or combinationsthereof.

BRIEF DESCRIPTION OF THE DRAWINGS

Reference will now be made to the accompanying drawings, which are notnecessarily drawn to scale, and wherein:

FIG. 1 is a block diagram illustrating an exemplary, non-limitingembodiment of a mobile tag and anchors for determining locationinformation between the mobile tag and the anchors in accordance withvarious aspects described herein.

FIG. 2 is a block diagram illustrating an exemplary, non-limitingembodiment of a timing diagram for determining location informationbetween the mobile tag and the anchors of FIG. 1 in accordance withvarious aspects described herein.

FIG. 3 is a block diagram illustrating an exemplary, non-limitingembodiment for determining location information between the mobile tagand pairs of anchors in accordance with various aspects describedherein.

FIGS. 4A, 4B and 4C are block diagrams illustrating exemplary,non-limiting embodiments for selecting pairs of anchors in accordancewith various aspects described herein.

FIG. 5 is a block diagram illustrating an exemplary, non-limitingembodiment of a mobile tag and an anchor for determining locationinformation between the mobile tag and the anchor in accordance withvarious aspects described herein.

FIG. 6 is a block diagram illustrating an exemplary, non-limitingembodiment of a timing diagram for determining location informationbetween the mobile tag and the anchor of FIG. 5 in accordance withvarious aspects described herein.

FIG. 7 is a block diagram illustrating an exemplary, non-limitingembodiment for determining location information of mobile tags in ademarcated area in accordance with various aspects described herein.

FIG. 8 depicts an illustrative embodiment of a method for determininglocation information and uses thereof in accordance with various aspectsdescribed herein.

FIG. 9 is a block diagram illustrating an exemplary, non-limitingembodiment for scheduling a process for determining location informationbetween mobile tags and pairs of anchors in the demarcated area of FIG.7 in accordance with various aspects described herein.

FIG. 10 is a block diagram illustrating an exemplary, non-limitingembodiment of environments where mobile tags can operate from inaccordance with various aspects described herein.

FIG. 11 is a block diagram illustrating an exemplary, non-limitingembodiment of a network frame in accordance with various aspectsdescribed herein.

FIG. 12 is a block diagram illustrating an exemplary, non-limitingembodiment of a peer-to-peer frame configured for monitoring a presenceof a network frame in accordance with various aspects described herein.

FIG. 13 is a block diagram illustrating an exemplary, non-limitingembodiment of a mobile tag configured to utilize peer-to-peercommunications in a manner that avoids interfering with portions of anetwork frame in accordance with various aspects described herein.

FIGS. 14A, 14B, 14C, 13D and 14E are block diagrams illustratingexemplary, non-limiting embodiments of peer-to-peer communications fordetermining a location of a mobile tag in accordance with variousaspects described herein.

FIG. 15 is a block diagram illustrating an exemplary, non-limitingembodiment of capabilities of a mobile tag to determine its location ina network of anchors providing location services in accordance withvarious aspects described herein.

FIG. 16 is a block diagram illustrating an exemplary, non-limitingembodiment of capabilities of a mobile tag to determine its locationutilizing peer-to-peer communications with other mobile tags inaccordance with various aspects described herein.

FIG. 17 depicts an illustrative embodiment of a method for transitioningbetween modes of communications; particularly, peer-to-peercommunications mode and network communications mode in accordance withvarious aspects described herein.

FIG. 18 is a block diagram of an example, non-limiting embodiments of acommunication device in accordance with various aspects describedherein.

FIG. 19 is a block diagram of an example, non-limiting embodiments of acomputing system in accordance with various aspects described herein.

FIGS. 20A-20B are block diagrams illustrating an exemplary, non-limitingembodiment for determining location information of mobile tags usingranging block and ranging rounds in accordance with various aspectsdescribed herein.

FIGS. 21A-21C are block diagrams illustrating an exemplary, non-limitingembodiment for determining location information of mobile tags using aparticular frame structure in accordance with various aspects describedherein.

FIGS. 22A-22B are block diagrams illustrating an exemplary, non-limitingembodiment for determining location information of mobile tags usingranging block and ranging rounds in accordance with various aspectsdescribed herein.

DETAILED DESCRIPTION

The subject disclosure describes, among other things, illustrativeembodiments for determining location information such as between amobile tag and one or more anchors. Other embodiments are described inthe subject disclosure.

In one embodiment, a server can include a processing system including aprocessor; and a memory that stores executable instructions that, whenexecuted by the processing system, facilitate performance of operations.The processing system can generate a schedule for a group of anchorsoperating as controlees in a location system that is utilized fordetermining position information for one or more mobile devices. Theprocessing system can provision the schedule to the group of anchors tocause anchor pairs of the group of anchors to wirelessly transmit REQmessages and RSP messages to each other according to the scheduleoperating as an initiator and a responder, respectively, wherein the oneor more mobile devices also receive the REQ messages and RSP messagesbeing transmitted between the anchor pairs and calculate a TDOAmeasurement based on the REQ messages and RSP messages.

In one embodiment, a non-transitory machine-readable medium can includeexecutable instructions that, when executed by a processing systemincluding a processor operating from a mobile device, facilitateperformance of operations. The processing system can obtain REQ messagesand RSP messages being wirelessly transmitted between anchor pairs of agroup of anchors according to a schedule that is generated by andprovisioned by a server to the group of anchors, wherein the anchorpairs operate as an initiator and a responder, respectively, in alocation system; and can calculate a TDOA measurement based on the REQmessages and RSP messages.

In one embodiment, a method can include generating, by a serveroperating as a controller in a locating system, a schedule for a groupof anchors operating as controlees in the location system that isutilized for determining position information for one or more mobiledevices; and provisioning, by the server, the schedule to the group ofanchors to cause anchor pairs of the group of anchors to wirelesslytransmit REQ messages and RSP messages to each other according to theschedule operating as an initiator and a responder, respectively,wherein the one or more mobile devices overhear the REQ messages and RSPmessages being transmitted between the anchor pairs and calculate a TDOAmeasurement based on the REQ messages and RSP messages.

FIG. 1 is a block diagram illustrating an exemplary, non-limitingembodiment of a mobile tag 101 and anchors 102 (“A”) and 104 (“B”) fordetermining location information between the mobile tag 101 (“M”) andthe anchors 102 and 104 in accordance with various aspects describedherein. In an embodiment, anchor 102 can be configured to transmit afirst wireless signal (s₁) that can be received by anchor 104 and themobile tag 101. The timing of transmission by anchor 102 and receptionby the mobile tag 101 and anchor 104 of the first wireless signal (s₁)is depicted in FIG. 2 .

In an embodiment, anchor 102 transmits the first wireless signal (s₁) attime t₀, which in turn is received by the mobile tag 101 at time t₁ andanchor 104 at time t₂. Anchor 104 can be configured to transmit a secondwireless signal (s₂) at time t₃, which is received by the mobile tag 101at time L₁. The mobile tag 101 can be configured to use a timedifference of arrival (TDOA) measurement technique based on the firstand second wireless signals (s₁, s₂) to determine location informationbetween the mobile tag 101 and the anchors 102 and 104 as will bedescribed below.

In an embodiment, anchors 102 and 104 are stationary. Accordingly, theirx-y coordinates and the distance between anchors 102 and 104 (d_(AB))can be made known to the mobile tag 101 either by a look-up tableprovisioned into a memory of the mobile tag 101 or by including suchinformation in the first wireless signal (s₁), which can then beobtained by the mobile tag 101. Additionally, the mobile tag 101 can beconfigured to include in its look-up table the receive time and transmittime (t₂, t₃) of anchor 104 and/or a time difference between these times(Δt=t₃−t₂), or can receive this information in the second wirelesssignal (s₂) transmitted by anchor 104. The equations that follow can beused to calculate a first possible location of the mobile tag 101relative to anchor pairs 102, 104.

The distance between anchor 102 and the mobile tag can be representedas,

d _(AM) =c(t ₁ −t ₀)  (EQ 1),

where c is the speed of light constant. Similarly, the distance fromanchor 102 to anchor 104 can be represented as,

d _(AB) =c(t ₂ −t ₀)  (EQ 2).

Additionally, the distance from anchor 104 to the mobile tag 101 can berepresented as,

d _(BM) =c(t ₄ −t ₃)  (EQ 3).

The total distance traveled by the first wireless signal (s₁) fromanchor 102 to anchor 104 and the second wireless signals (s₂) fromanchor 104 to mobile tag 101 can be represented as,

d _(AB) +d _(BM) =c(t ₂ −t ₀ +t ₄ −t ₃)  (EQ 4A).

To eliminate variable t₀, equation EQ1 can be subtracted from equationEQ 4A, resulting in,

d _(AB) +d _(BM) −d _(AM) =c(t ₂ +t ₁ +t ₄ +t ₃)  (EQ 4B)

Substituting Δt=t₃−t₂ into EQ 4B results in equation,

d _(AB) +d _(BM) −d _(AM) =c(t ₄ −t ₁ −Δt)  (EQ 4C).

Since d_(AB) is a constant known to the mobile tag 101 and the timevariables of the factor c(t₄−t₁−Δt) are also known to the mobile tag101, EQ 4C can be rewritten as,

d _(BM) −d _(AM) =Δd ₁  (EQ 5),

where Δd₁=c(t₄−t₁−Δt)−d_(AB), which are constants known to mobile tag101. Furthermore, in an example of two-dimensional (2D) space, thedistance between anchor 102 and the mobile tag 101 can be representedas,

d _(AM)=√{square root over ((x−x ₁)²+(y−y ₁)²)},

and the distance between anchor 104 and the mobile tag 101 can berepresented as,

d _(ABM)=√{square root over ((x−x ₂)²+(y−y ₂)²)},

Substituting d_(AM) and d_(BM) in EQ 5 results in the followingequation,

√{square root over ((x−x ₂)²+(y−y ₂)²)}−√{square root over ((x−x₁)²+(y−y ₁)²)}=Δd ₁  (EQ 6).

Equation EQ 6 has only two unknown variables (x, y) that can be solvedby the mobile tag 101 utilizing a non-linear regression technique (e.g.,Nonlinear Least Squares). Such a technique produces a hyperbolic curveof solutions for x and y that is associated with the positions ofanchors pairs 102, 104. Such a hyperbolic curve can be represented as,

h_(AB)=Δd₁  (EQ 7A),

where √{square root over ((x−x₂)²+(y−y₂)²)}−√{square root over((x−x₁)²+(y−y₁)²)}. 101 can be further configured to perform the abovecalculation across other anchor pairs as depicted in FIG. 3 . Forexample, the mobile tag 101 can be configured to determine a hyperboliccurve between anchors 102 and 106 (i.e., anchors A and C) resulting inequation,

h_(AC)=Δd₂  (EQ 7B),

where Δd₂ is a constant known to mobile tag 101, and whereh_(AC)=√{square root over ((x−x₃)²+(y−y₃)²)}−√{square root over((x−x₁)²+(y−y₂)²)}. Additionally, the mobile tag 101 can be configuredto determine a hyperbolic curve between anchors 106 and 108 (i.e.,anchors C and D) resulting in equation,

h_(CD)=Δd₃  (EQ 7C),

where Δd₃ is a constant known to mobile tag 101, and whereh_(CD)=√{square root over ((x−x₄)²+(y−y₄)²)}−√{square root over((x−x₃)²+(y−y₃)²)}. The intersection 109 of hyperbolic curves h_(AB) ,h_(AC) and h_(CB) corresponding to equations EQ 7A-7C can provide atwo-dimensional coordinate location (i.e., x, y) for the mobile tag 101relative to anchors pairs 102 and 104 (anchors A/B), 106 and 108(anchors A/C), 106 and 108 (anchors C/D). It will be appreciated thatthe mobile tag 101 can also be configured to determine athree-dimensional coordinate (i.e., x, y, z) of its location byutilizing a fourth pair of anchors.

To enable the above calculations, the pairs of anchors utilized by themobile tag 101 must satisfy a coverage area that encompasses the anchorpairs and the mobile tag 101. For example, referring to FIG. 4A, thecoverage area of anchor 102 (anchor “A”) is defined by reference 110,while the coverage area of anchor 104 (anchor “B”) is defined byreference 112. The overlapping region 114 represents the coverage areathat is jointly shared by anchors 102 and 104. Since anchor 104 and themobile tag 101 must be able to receive the first wireless signal (s₁)generated by anchor 102, anchors 104 and the mobile tag 101 must belocated in the overlapping region 114. Additionally, the mobile tag 101must be in the overlapping region 114 in order to receive the secondwireless signal (s₂) generated by anchor 104. Conditions such asdescribed above for anchor pairs 102, 104 (anchors A/B) must also besatisfied by the other anchor pairs 102, 106 (anchors A/C) and anchorpairs 106, 108 (anchors C/D) in order to enable the mobile tag 101 toperform the triangulation calculations described above for hyperboliccurves h_(AB), h_(AC) and h_(CD).

FIG. 4B shows that the coverage areas 110 and 116 of anchor pairs 102,106 (anchors A/C), respectively, creates an overlapping region 120 thatencompasses anchors 102 and 106 and the mobile tag 101, thereby enablingthe mobile tag 101 to calculate hyperbolic curve h_(AC). Additionally,FIG. 4C shows that the coverage areas 122 and 124 of anchor pairs 106,108 (anchors C/D), respectively, creates an overlapping region 126 thatencompasses anchors 106 and 108 and the mobile tag 101, thereby enablingthe mobile tag 101 to calculate hyperbolic curve h_(CD).

FIG. 5 depicts another embodiment for determining location informationbetween the mobile tag 101 and an anchor 102. In this embodiment, themobile tag 101 can be configured to use a two-way time of arrival(TW-TOA) process for determining a distance between itself and theanchor 102. Optionally, the process may begin at anchor 102 whichtransmits a first wireless signal (s₁), which is received at time ti.Wireless signal (s₁) can include the x-y coordinates (x₁, y₁) of anchor102. Upon receiving the first wireless signal (s₁), the mobile tag 101can be configured to transmit a second wireless signal (s₂), which canrepresent a range request (R-REQ) signal directed to anchor 102initiated at time t₂ and received by anchor 102 at time t₃.

Upon receiving the R-REQ signal at time t₃, the anchor 102 can processthe R-REQ signal and initiate at time t₄ a transmission of a thirdwireless signal (s₃) representing a range response (R-RSP) signal thatis received by the mobile tag 101 at time t₅. The time to process theR-REQ signal and transmit the R-RSP signal can be represented byΔt=t₄−t₃, which can be communicated to the mobile tag 101 via the thirdwireless signal (s₃).

The mobile tag 101 can be configured to determine a roundtrip distancebased on the formula,

d _(r-trip) =d _(AM) +d _(MA),

where d_(r-trip) is the roundtrip distance from the mobile tag 101 toanchor 102 and back to mobile tag 101, d_(MA) is the distance from themobile tag 101 to anchor 102, and d_(AM) is the distance from anchor 102to the mobile tag 101. The distance from the mobile tag 101 to anchor102 can be determined by,

d _(MA) =c(t ₃ −t ₂).

Similarly, the distance from anchor 102 to the mobile tag 101 can bedetermined by,

d _(AM) =c(t ₅ −t ₄).

With the above equations, the roundtrip distance can be rewritten as,

d _(r-trip) =c(t ₅ −t ₄ +t ₃ −t ₂).

As noted earlier, the time to process the R-REQ signal and transmit theR-RSP signal via anchor 102 can be represented as Δt=t₄−t₃. Anchor 102can be configured to transmit the value of Δt in the R-RSP signal foruse by the mobile tag 101 in calculating d_(r-trip) Substituting Δt ind_(r-trip) results in the formula,

d _(r-trip) =c(t _(s) −t ₂ −Δt).

Since the values of t₅, t₂, and Δt are known to the mobile tag 101, themobile tag 101 can readily calculate d_(r-trip). The mobile tag 101 canalso calculate the distance from the mobile tag 101 to anchor 102 basedon the formula,

d _(MA) =d _(r-trip)/2.

It will be appreciated that the mobile tag 101 can also be configured toknow a priori the fixed value of Δt thus eliminating the need totransmit the value of Δt in the R-RSP signal. This knowledge can bebased on a pre-provisioning of the mobile tag 101 with this informationprior to deployment. In yet another embodiment, the processing time toreceive the R-REQ signal and respond with the transmission of the R-RSPsignal can be a fixed processing time interval known and used by alldevices in a network performing TW-TOA analysis. It will be furtherappreciated that the R-REQ and the R-RSP signals can be transmittedusing ultra-wideband signaling technology to increase the accuracy ofthe d_(r-trip) calculations. Accordingly, the TW-TOA illustrated in FIG.5 can be used by either the mobile tag 101 or anchors in otherembodiments to calculate a relative distance between each other.

It will be appreciated that the TDOA and TW-TOA processes describedabove can also between mobile tags 101. For example, FIGS. 1-3, 4A-4C,and 5-6 can be adapted so that the anchors are replaced with mobile tags101. In this embodiment, mobile tags 101 can use TDOA or TW-TOA toobtain location information amongst each other based on the processesdescribed earlier for TDOA and TW-TOA, respectively.

It will be further appreciated that a mobile tag 101, depicted in FIGS.1, 3, 4A-4C, 5 , can be configured with multiple antennas and phasedetectors to calculate an angle of arrival of any wireless signalgenerated by an anchor and received by the mobile tag 101 based on aphase difference between the antennas determined from the receivedwireless signal. An angle of arrival calculation can be used todetermine an angular orientation between a mobile tag 101 and an anchor.It will be further appreciated that the mobile tags 101 can beconfigured to determine a speed of travel of the mobile tag 101 byperforming multiple location measurements over a time period. Withangular orientation and speed of travel, a mobile tag 101 can alsodetermine its trajectory of travel. Alternatively, the mobile tags 101can be configured with an orientation sensor (e.g., a magnetometer) todetermine an angular orientation with an anchor.

As will be discussed shortly, TDOA, TW-TOA, angular orientation, speedof travel, or combinations thereof can be utilized in an environmentsuch as illustrated in FIG. 7 .

FIG. 7 is a block diagram illustrating an exemplary, non-limitingembodiment for determining location information of mobile tags 201 in ademarcated area 200 in accordance with various aspects described herein.In the illustration of FIG. 7 , the demarcated area 200 can represent awarehouse with racks or shelves 206 for managing the distribution ofproducts and/or materials. It will be appreciated that the demarcatedarea 200 can correspond to numerous other use cases, including withoutlimitation, a parking lot for managing parking spots, a commercial orretail environment for monitoring individuals and/or assets, assistednavigation of vehicles and/or machinery such as robots or forklifts,collision detection and avoidance of objects, managing separationbetween objects and/or individuals, as well as other suitableapplications for which the subject disclosure can be applied to. Forillustration purposes only, the demarcated area 200 of FIG. 7 will beconsidered a warehouse with racks and/or shelves 206.

The measurement technique used by the mobile tags 201 to determinelocation information within the demarcated area 200 can depend on thelocation of the mobile tags 201 relative to other anchors 204 in thedemarcated area 200. For example, when a mobile tag 201 is located insections 212 (i.e., open spaces without shelving 206 and line-of-site topairs of anchors 204), the mobile tag 201 can be configured to performTDOA measurements among pairs of anchors 204 as described above inrelation to FIGS. 1, 2, 3, 4A, 4B, 4C. On the other hand, when themobile tag 201 is located in an aisle 203 between racks/shelves 206, themobile tag 201 can be configured to perform TW-TOA measurements amongone or more anchors 204 located in the aisle 203 as described above inrelation to FIGS. 5-6 .

Additionally, an aisle 203 can be configured with two or more anchors204. An aisle 203 can have more than two anchors 204 when the coveragearea of a first anchor 204 at one end of the aisle 203 has insufficientcoverage to reach a second anchor 204 at the other end of the aisle 203and vice-versa—see sections 220 and 224. However, when the coverage areaof a first anchor 204 at one end of the aisle 203 has sufficientcoverage to reach a second anchor 204 at the end of the aisle 203 andvice-versa, then no more than two anchors 204 is necessary in the aisle203—see region 222.

FIG. 8 depicts an illustrative embodiment of a method 300 in accordancewith various aspects described herein. Method 300 can begin at step 302where a computing system such as a server (described below in relationto FIG. 11 ) is configured to identify anchor pairs in the demarcatedarea 200 of FIG. 7 that provide sufficient coverage to enable TW-TOA orTDOA measurements depending on the location of the mobile tags 201.

In the case of open spaces, like region 212 (repeated in severalportions of the demarcated area 200 of FIG. 7 ), mobile tags 201 areconfigured to use TDOA measurement techniques to determine locationinformation. To enable TDOA measurements, the server is configured atstep 302 to identify, for a certain number of x-y coordinates obtainedfrom a digitization of an open space defined by region 212 where amobile tag 201 may be located, at least three pairs of anchors 204 thathave overlapping coverage that satisfy the condition described earlierin relation to FIGS. 3, 4A, 4B and 4C. It will be appreciated that othertechniques other than digitization of an open space can be used toidentify possible x-y coordinates used by the server to perform step302. In the case of spaces formed by aisles 203, like region 214(repeated in several portions of the demarcated area 200 of FIG. 7 ),mobile tags 201 are configured to use TW-TOA measurement techniques todetermine location information. To enable TW-TOA measurements, theserver is configured at step 302 to identify at least two anchors 204covering at least a portion of the aisle 203. The mobile tags 201 can beconfigured to perform TW-TOA with anchors 204 at opposite ends of anaisle 203 to provide further accuracy or at least validate locationinformation determined by the mobile tag 201. As noted earlier, pairs ofanchors 204 can be located at opposite ends of an aisle 203, or inbetween aisles 203 when a pair of anchors 204 is unable to cover for thefull-length of an aisle 203. The mobile tag 201 can be configured toperform TW-TOA measurement according to the embodiments described abovein relation to FIGS. 5-6 .

For open spaces such as region 212, a server can be configured at step302 to determine optimal pairs of anchors 204 in FIG. 7 that providesufficient coverage for any mobile tag 201 in the area such as region212 to perform triangulation with at least three pairs of anchors 204that satisfy the conditions set forth in FIGS. 4A-4C.

The process of selecting anchor pairs for TDOA triangulation and optimalcoverage in open spaces defined by region 212 can be performed as aniterative analysis by a server at step 302, or by other techniques thatenable convergence to a solution that provides coverage to mobile tags201 across most (if not all) open spaces depicted by region 212. In thecase of spaces defined by aisles 203, the server can identify the anchorpairs 204 in the aisles 203 that provide sufficient coverage to coverthe aisle from end-to-end as illustrated by sections 220-224 of FIG. 7 .

Once the anchor pairs 204 have been identified, the server can proceedto step 304 to identify a schedule for communications between anchorpairs 204 and one or more mobile tags 201. In one embodiment, theanchors 204 can be configured to transmit and receive wireless signalsin a single frequency band. A single frequency band for performing TDOAor TW-TOA measurements can reduce the design complexity of mobile tags201 and corresponding costs. To avoid collisions between anchor pairs204 transmitting in a same frequency band near other anchors, the servercan be configured to utilize a time-division scheme (timeslots) such asshown in FIG. 9 to enable anchor pairs 204 to communicate with eachother and with one or more mobile tags 201 without causing signalinterference (i.e., wireless collisions).

To achieve this, the server can be configured, for example, to determineat step 304 which anchor pairs 204 have overlapping coverage areas withother anchor pairs and schedule the communications between the anchorpairs and the mobile tags 201 during specific timeslots T₀-T_(n) (e.g.,402 a through 402 n). In the case where a pair of anchors 204 does nothave an overlapping coverage area with another anchor pair (e.g., anchorpairs at opposite ends of the demarcated area 200), the server canschedule simultaneous wireless communications of both anchor pairs 204during a same timeslot (not shown in FIG. 9 ). As part of the schedulingprocess shown in FIG. 9 , the server can be further configured at step304 to determine which of the anchor pairs 204 will initiate/start ameasurement session through a transmission of wireless signal (s₁) Suchanchors 204 will be referred to herein as source anchors 204.

In one embodiment, the anchor pairs 204 identified by the server at step302, and the transmission schedule and source anchors 204 determined bythe server at step 304 can be communicated to all anchors 204 viagateway anchors 208 communicatively coupled to the server. Gatewayanchors 204 can be located at the edges of the demarcated area 200 or inother locations of the demarcated area 200. Additionally, the server canalso be configured to share the identification of the anchor pairs 204and transmission schedules with the mobile tags 201. This informationcan be conveyed by gateway anchors 208 when the mobile tags 201 are inclose vicinity thereto, or by way of other anchors 204 which can beconfigured to obtain this information from the gateway anchors 208 andrelay the information to the mobile tags 201.

It will be appreciated that the locations of the anchors 204 in FIG. 7can be predefined before the implementation of step 302 by the server.That is, the anchors 204 can be placed by one or more individualsmanaging the placement of shelves/racks, etc. in the demarcated area200. The specific x-y coordinate locations of the anchors 204 can bedetermined by such individuals and communicated to the server via, forexample, a look-up table provided to the server, in order to performstep 302.

It will be further appreciated that in other embodiments, the locationof anchors can instead be determined by the server at step 302. In thisembodiment, the server can be provided with the location ofracks/shelves and/or other objects in the demarcated area 200 along withdimensions of the demarcated area 200 and dimensions of theracks/shelves and/or other objects. The server can then be configured toperform an iterative analysis to determine a location for anchors 204relative to the racks/shelves identified to the server that providedesirable coverage for mobile tags 201 to perform TDOA analysis in openspaces or TW-TOA analysis in aisles 203. In this embodiment, the servercan be configured to report the x-y coordinate locations of anchors 204to one or more personnel managing the floor space of the demarcated area200 for placement of the anchors 204 in their corresponding x-ycoordinate locations.

It will be further appreciated that once the anchors 204 have beenplaced in their designated locations determined by the server, theserver can be configured to provide the x-y coordinates to all anchors204 in the demarcated area 200 via gateway anchors 208 as describedabove. This information can also be conveyed by gateway anchors 208 whenthe mobile tags 201 are in close vicinity thereto, or by way of otheranchors 204 which can be configured to obtain this information from thegateway anchors 208 and relay the information to the mobile tags 201.

Referring back to FIG. 8 , at step 306, mobile tags 201 can beconfigured to initiate a process using TDOA or TW-TOA (and in someinstances angular orientation measurements) to obtain locationinformation depending on the location of the mobile tag 201 in thedemarcated area 200. In one or more embodiments (although othertechniques can be utilized) to assist mobile tags 201 in identifyingwhether they are in region 212 (i.e., open spaces) or region 214 (i.e.,aisles 203), the source anchors 204 can be configured to transmit in thefirst wireless signal (s₁) an indication whether to use TDOA or TW-TOA.The indication may be a flag or message that enables the mobile tag 201to determine whether it is in region 212 (an open space) or region 214(an aisle 203). The first wireless signal (s₁) can also convey to themobile tag 201 the x-y coordinates of one or both anchor pairs 204.Alternatively, the mobile tags 201 can be configured with a look-uptable that includes the x-y coordinates of all anchors 204 in thedemarcated area 200. The mobile tags 201 can obtain the lookup-tablefrom the server via the gateway anchors 208 or during provisioning ofthe mobile tag 201 by a user before the mobile tag 201 is deployed foruse in the demarcated area 200. It will be further appreciated that step306 can be adapted to enable mobile tags 101 to measure and therebyobtain location information between each other using TDOA or TW-TOA asdescribed earlier in relation to FIGS. 1-3, 4A-4C, and 5-6 .

Once a mobile tag 201 calculates location information via TDOA or TW-TOAmeasurement techniques, the mobile tag 201 can in turn report at step308 the location information to other devices such as other mobile tags201, the anchors 204 in its coverage area, and/or the server bycommunicating directly to one or more gateway anchors 208 or indirectlyvia one or more intermediate anchors 204 that can communicate with theone or more gateway anchors 208. The location information can includewithout limitation, x-y coordinates of the mobile tag 201 within thedemarcated area 200, a speed of travel of the mobile tag 201 determinedfrom multiple location measurements over a time period, a trajectory ofthe mobile tag 201, angular orientation of the mobile tag 201 relativeto other anchors 204 and/or other mobile tags 201, or any combinationsthereof. Since sharing location information does not require precisionmeasurements via ultra-wideband signals, the mobile tags 201 can beconfigured to share location information with other devices using lowerpower wireless signaling techniques such as Bluetooth®, ZigBee®, WiFi orother suitable wireless signaling protocols.

Sharing location information of the mobile tags 201 enables the serverand/or other devices such as the anchors 204 and other mobile tags 201to track at step 310 movement and location of the mobile tags 201 anddetect and perform mitigation procedures at step 312. For example,mobile tags 201 can be configured to detect issues such as proximityviolations and/or possible collisions between mobile tags 201 from thisshared information. Upon detecting such issues, the mobile tags 201 canbe configured to assert an alarm (audible and/or visual) and/or takefurther mitigation action such as slow down or otherwise disable avehicle (e.g., a forklift, robot, automobile, etc.) that may collidewith an individual carrying a mobile tag 201. The mobile tag 201 may beintegrated in an identification badge or embedded in a mobilecommunication device (e.g., mobile phone, tablet, etc.), clipped on ashirt, integrated into an article of clothing of the individual orotherwise carried by the individual via other suitable methods forcarrying the mobile tag 201.

It will be appreciated that method 300 can be adapted for otherembodiments contemplated by the subject disclosure. For example, at step306, a mobile tag 201 can be adapted to obtain location informationbased on a determination whether it is in an open space defined byregion 212 or an aisle 203 defined by region 214. A mobile tag 201, forexample, can receive wireless signals from both an anchor 204 in an openspace and an anchor 204 in an aisle 203. To determine whether to performa TDOA measurement or a TW-TOA measurement, the mobile tag 201 can beconfigured to obtain from its internal memory a history of locations inthe demarcated area 200 that are stored by the mobile tag 201 todetermine if the most recent location (or trajectory of the mobile tag201) places the mobile tag 201 in an open space, region 212, or aisle203, region 214.

If the mobile tag 201 determines it is likely in an open space, region212, it can proceed to perform TDOA analysis based on the wirelesssignals generated by anchor pairs 204 in the open space. Otherwise, ifthe mobile tag 201 determines it is likely in an aisle, region 214, itcan proceed to perform TW-TOA analysis based on the wireless signalsgenerated by anchor pairs 204 in the aisle 203. If the mobile tag 201 isunable to make a determination where it is likely located from a historyof locations, the mobile tag 201 can be configured to perform TDOAanalysis based on the wireless signals generated by anchor pairs 204 inthe open space and TW-TOA analysis based on the wireless signalsgenerated by anchor pairs 204 in the aisle 203. The mobile tag 201 canbe configured to compare the location determined from TDOA and thelocation determined from TW-TOA to the stored location history andthereby make a determination as to which location to choose that moreclosely mimics the location history of the mobile tag 201.

While for purposes of simplicity of explanation, the respectiveprocesses are shown and described as a series of blocks in FIG. 8 , itis to be understood and appreciated that the claimed subject matter isnot limited by the order of the blocks, as some blocks may occur indifferent orders and/or concurrently with other blocks from what isdepicted and described herein. Moreover, not all illustrated blocks maybe required to implement the methods described herein. For example,steps 308-312 can be optional.

FIG. 10 is a block diagram illustrating an exemplary, non-limitingembodiment of environments where mobile tags can operate from inaccordance with various aspects described herein. Mobile tags 201 can atcertain times operate within a network 501 of anchors 204 (such asdescribed above in FIG. 7 ) to obtain their location as described above.However, users (or vehicles or other mobile devices) carrying a mobiletag 201 can transition to an open space 503 that is outside of thecoverage of the network 501. When this occurs, the mobile tags 204 canbe configured to transition to peer-to-peer communications (i.e.,tag-to-tag communications) to continue to obtain location informationrelative to other mobile tags in the open space 503.

FIG. 11 is a block diagram illustrating an exemplary, non-limitingembodiment of a network frame 509 that can be utilized by the network501 in accordance with various aspects described herein. The networkframe 509 can include a beacon signal 510, a sync period 512, acontention-free period (CFP) 514, a contention period (CP) 516, and anend period 518. The beacon signal 510 is generated by anchors 204 toprovide anchors 204 and mobile tags 201 a means for synchronization. TheCFP 514 portion of the frame 509 supports downlink TDOA (DL-TDOA)ranging packets, which in turn also supports the anchor pair schedulingdepicted in FIG. 9 . In the present context, the term “downlink” meanscommunications from anchor to mobile tag, while the term “uplink” meanscommunications from mobile tag to anchor. Transmissions during CFP 514are scheduled to avoid simultaneous transmissions that lead to wirelesssignal interference. The CP 516 portion of the frame 509 supports uplinkTDOA (UL-TDOA), TW-TOA ranging packets and additional datapackets/control signaling packets and can be subject to simultaneoustransmissions that in turn may interfere with each other.

The sync period 512 (which can be optional) provides a short bufferperiod for anchors 204 to synchronize the start of the CFP 514 to eachother. The end period 518 (which can be optional) provides a shortbuffer period for a next frame 509 preparation or can serve as guardinterval for ACK message transmissions. The network frame 509 isperiodic as shown by the next repetitive sequence of fields in asubsequent network frame. Various other scheduling and timing, includinguse of particular frame structures can be used with the exemplaryembodiments of the subject disclosure as described in U.S. Pat. No.10,779,118 filed Jan. 11, 2019 to Duan et al., the disclosure of whichis hereby incorporated by reference herein in its entirety.

FIG. 12 is a block diagram illustrating an exemplary, non-limitingembodiment of a peer-to-peer frame configured for monitoring a presenceof a network frame 509 in accordance with various aspects describedherein. The peer-to-peer frame is referred to herein as a peer-to-peersuper-frame 530. The peer-to-peer super-frame 530 can include apeer-to-peer sub-frame 520 and a network sub-frame 528. The peer-to-peersub-frame 520 enables a mobile tag 201 located in the open space 503 ofFIG. 10 to perform peer-to-peer range measurements as will be describein FIGS. 14A-14D below. The peer-to-peer sub-frame 520 can include apeer-to-peer beacon signal 521, a ranging period 522, and listeningperiod 524.

The peer-to-peer beacon signal 521 can be a Bluetooth (orultra-wideband) signal that a mobile tag 201 broadcasts to other mobiletags 201 to initiate a ranging process to determine the relativelocation of the mobile tag 201 to other mobile tags 201 in its vicinity.The peer-to-peer beacon signal 521 can be an announcement message and/orsynchronization signal to enable other mobile tags 201 to properlyinitiate a ranging process. During the ranging period 522, the mobiletag 201 can be configured to perform ranging measurements usingultra-wideband signals or other techniques (e.g., RF signal strengthindicator (RSSI)). During the listening period 524, the mobile tag 201can be configured to monitor response messages from other mobile tags201 in its communication range using a Bluetooth (or ultra-wideband)receiver. The peer-to-peer sub-frame 520 is periodic as shown in FIG. 12.

To detect the presence of the network 501 with anchors 204, the mobiletag 201 can be configured to monitor during the network sub-frame 528for a beacon signal 510 generated by one or more anchors 204 in thenetwork 501. During the network sub-frame 528, the mobile tag 201 can beconfigured to turn on the ultra-wideband receiver to monitor a beaconsignal 510 generated by one or more anchor 204 using an ultra-widebandtransmitter. Generally, the ultra-wideband receiver of the mobile tag201 draws more current than a Bluetooth narrowband receiver. To extendbattery life of the mobile tag 201, the mobile tag 201 can be configuredto maintain the ultra-wideband receiver on for a period 526 (depicted asTs), which is less than the period (depicted as T) of the networksub-frame 528. The period 526 (Ts) can be chosen sufficiently large toenable the mobile tag 201 to detect a beacon signal of at least onenetwork frame 509.

In the illustration of FIG. 12 , a first instance of the beacon signal510 is not detected because it occurs outside the period 526 (Ts) inwhich the ultra-wideband receiver of the mobile tag 201 is enabled tomonitor for beacon signals. However, during a second instance of asuper-frame 530, a beacon signal from a second instance of a networkframe 509 is detected during the period 526 (Ts) of the network-subframe528 of the mobile tag 201. Upon detecting the beacon signal 510, themobile tag 201 can be configured to extend the period 526 (Ts) to enablethe mobile tag 201 to receive multiple instances of a beacon signal 510which enables the mobile tag 201 to synchronize its clock to the networkframe 509. Upon achieving synchronization, the mobile tag 201 can beconfigured to determine whether to transition from a peer-to-peercommunications mode (as depicted in FIG. 12 ) to a networkcommunications mode (as depicted in FIG. 11 ) is warranted.

In an embodiment, the mobile tag 201 can be configured to store acoverage map of the network 501. The coverage map can indicate areas inthe network 501 where access to anchors 204 is available and notavailable. Alternatively or in combination with the foregoingembodiment, the mobile tag 201 can be configured to receive a messageincluding a coverage map (or portion of the coverage map that representsa vicinity where the mobile tag 201 is located) from at least one anchor204 after the mobile tag 201 has synchronized to the network frame 509.The mobile tag 201 can also be configured to track a history of itsmovements from the time it left the network 501 to an open space 503 notinside the wireless coverage area of the network 501. The mobile tag 201can performing this type of tracking by utilizing an accelerometer,gyroscope, and/or magnetometer (compass) to determine a history ofpositions from inside the network 501 to an open space 503 and back tothe network 501. By tracking a history of positions, the mobile tag 201can determine where it is in the coverage map of the network 501 andthereby determine whether it is in a communication range of one or moreanchors 204 in the network 501. Alternatively, the mobile tag 201 can beconfigured to try to communicate with one or more anchors 204 anddetermine from ranging measurements whether it is located in the network501. In yet another embodiment, the mobile tag 201 may receive messagesfrom anchors 204 during CFP period and based on the number of messagesand quality of messages received during CFP period determine if it is inthe communication coverage of anchors 204 in the network 501.

If the mobile tag 201 cannot reliably communicate with anchors 204 inthe network 501, or cannot make an accurate measurement of its locationrelative to one or more anchors, and/or it determines from a coveragemap and position history that it is an area of the network 501 whereanchors 204 are not accessible, then the mobile tag 201 can beconfigured to adjust peer-to-peer mobile tag communications to occur ina position in a network frame 509, which minimizes the chances ofcausing wireless signal interference with anchors 204 or other mobiletags 201 engaged in a network communications mode as depicted in FIG. 13.

FIG. 13 is a block diagram illustrating an exemplary, non-limitingembodiment of a mobile tag 201 configured to utilize peer-to-peercommunications in a manner that avoids interfering with portions of anetwork frame 509 in accordance with various aspects described herein.To minimize RF interference with anchors 204 and/or other mobile tags201 operating in a network communications mode, a mobile tag 201 thathas insufficient coverage in the network 501 (e.g., cannot access one ormore anchors 204) can be configured to maintain peer-to-peercommunications in the CP 516 portion (i.e., contention period) of thenetwork frame 509 and maintain synchronicity with the network frame 509by monitoring the beacon signal 510 via a short listening period 531.Since the CP 516 portion allows for contentions (i.e., RF interferencedue to simultaneous RF transmissions), contentions caused by the mobiletag 201 performing peer-to-peer communications can be tolerated and willnot cause issues with RF transmissions by anchors 204 utilizing the CFPportion 514 (contention-free period) of the network frame 509. Themobile tag 201 can perform this adjustment after it has synchronized itsclock to the network frame 509 utilizing the beacon signal 510 as areference signal. Once the mobile tag 201 has adapted peer-to-peercommunications in the CP portion 516 of the network frame 509, themobile tag 201 can cease to use timing associated with the peer-to-peersuper-frame 530 depicted in FIG. 12 , and instead resort to utilizingonly the sub-frame 520 within the CP portion 516 of the network frame509.

If, on the other hand, the mobile tag 201 determines that it is in thecommunication range of a sufficient number of anchors 204 in the network501 to adequately determine its location in the network 501, then themobile tag 201 can be configured to fully transition to a networkcommunications mode by ceasing to utilize peer-to-peer communicationsaltogether as depicted in FIG. 12 and rely exclusively on communicationswith anchors 204 utilizing the network frame 509 of FIG. 11 .

FIGS. 14A-14D describe various embodiments for peer-to-peercommunications that can be applied to the aforementioned embodimentsdescribed above. FIG. 14A depicts a two-way time of arrival (TW-TOA)peer-to-peer process for determining distances between mobile tags(mobile tag A and mobile tag B). The process can begin at mobile tag Awhich transmits a range request (R-REQ) signal to mobile tag B at timeti. Mobile tag B receives the R-REQ signal at time t₂. Mobile tag Bprocesses the R-REQ signal for a period of At, and responsive theretotransmits a range response (R-RSP) signal at t₃. Mobile tag A receivesthe R-RSP signal at t₄. Mobile tag A can determine a roundtrip distancebased on the formula d_(r-trip)=d_(AB)+d_(BA), where d_(r-trip) is theroundtrip distance, which is the sum of d_(AB), the distance from mobiletag A to mobile tag B, and d_(BA), the distance from mobile tag B tomobile tag A. The distance from mobile tag A to mobile tag B can bedetermined by d_(AB)=c(t₂−t₁), where c is the speed of light. Similarly,the distance from mobile tag B to mobile tag A can be determined byd_(BA)=c(t₄−t₃). Substituting the above equations, the roundtripdistance can be rewritten as d_(r-trip)=c(t₄−t₃+t₂−t₁).

The time to process the R-REQ signal and to transmit the R-RSP signalvia mobile tag B can be represented as Δt=t₃−t₂. Mobile tag B can beconfigured to transmit the value of Δt in the R-RSP signal for use bymobile tag A in calculating d_(r-trip). Substituting Δt in d_(r-trip)results in the formula: d_(r-trip)=c(t₄−t₁−Δt). Since the values of t₄,t₁, and Δt are known to mobile tag A, mobile tag A can readily calculated_(r-trip). Mobile tag A can also calculate the distance from mobile tagA to mobile tag B based on the formula: d_(AB)=d_(r-trip)/2. It will beappreciated that mobile tag A can also be configured to know a priorithe fixed value of Δt. In yet another embodiment, the processing time toreceive the R-REQ signal and respond with the transmission of the R-RSPsignal can be a fixed processing time interval known and used by allmobile tags performing TW-TOA analysis. In the foregoing embodiments,the value of Δt would no longer need to be transmitted in the R-RSPsignal. It will be further appreciated that the R-REQ and the R-RSPsignals can be transmitted using ultra-wideband signaling technology toincrease the accuracy of the d_(r-trip) calculations or derivativesthereof. Accordingly, the TW-TOA illustrated in FIG. 14A can be used byeither mobile tag A or mobile tag B to calculate a relative distancebetween each other. This process can be utilized in the embodiments thatfollow below.

FIG. 14B depicts an exemplary, non-limiting embodiment of a peer-to-peerprocess for determining location data between mobile tags in accordancewith various aspects described herein. In FIG. 14B, Mobile tag A canbegin by transmitting an announcement wireless signal (ANNC) utilizing alow power narrow band transmitter (such as a Bluetooth transmitter).Upon receiving at mobile tag B the announcement signal utilizing anarrow band receiver (e.g., Bluetooth receiver), mobile tag B can inresponse select a random time to transmit via a wideband transmitter arange request (R-REQ) signal utilizing a wideband signaling technology(e.g., ultra-wideband signal at high frequencies such as 500 MHz).Mobile tag A can be configured to turn on a wideband receiver (e.g., forreceiving ultra-wideband signals) during a ranging RX window as shown inorder to receive the R-REQ signal from mobile tag B and/or other mobiletags in a vicinity of mobile tag A that are responding to theannouncement signal generated by mobile tag A.

Upon receiving the R-REQ signal, mobile tag A can be configured toenable a wideband transmitter (e.g., for transmitting ultra-widebandsignals) to transmit a range response (R-RSP) signal. Mobile tag B canreceive the R-RSP signal with a wideband receiver (e.g., for receivingultra-wideband signals). Upon receiving the R-RSP signal, mobile tag Bcan determine the round-trip time between the R-REQ signal and the R-RSPsignal and thereby determine a distance between mobile tag B and mobiletag A as described in relation to FIG. 14A. The R-RSP signal can includea processing time by mobile tag A to receive R-REQ and thereaftertransmit R-RSP (Δt), or such time can be known to mobile tag B aspreviously described.

In addition to measuring a relative distance between mobile tags, mobiletag B (or mobile tag A) can be configured with multiple antennas tocalculate an angle of arrival of the R-RSP signal based on a phasedifference between the antennas. Such angle of arrival can be used todetermine an angular orientation between mobile tag B and mobile tag A.By combining the angular orientation with a determination of thedistance between mobile tags A and B, mobile tag B can also determine alocation and angular orientation of mobile tag A relative to thelocation of mobile tag B.

Additionally, the announcement signal can be submitted periodically orasynchronously to prompt multiple measurements by mobile tag B (andother mobile tags in a vicinity for receiving the announcement signal)utilizing the process described in FIG. 14B. Distance and angularorientation can be used by mobile tag B (and other mobile tags) to alsodetermine a trajectory of mobile tag A relative to mobile tag B (andvice-versa). Mobile tag B can also be configured to report to mobile tagA location information such as the measured distance, angularorientation, position, and/or trajectory of mobile tag A and/or B via arange report (R-RPT) signal. The R-RPT signal can be a narrow bandsignal (e.g., Bluetooth) or wideband signal (e.g., ultra-wideband). Thetrajectory data can be used to predict collisions between mobile tags Aand B enabling each mobile tag to take mitigation action such asasserting an alarm at mobile tag B and/or mobile tag A.

Additionally, warning conditions can be provisioned at both mobile tagsA and B to determine conformance with a required separation betweenmobile tags A and B. The warning conditions can be separation thresholdsand/or trajectory thresholds. If the warning condition is not satisfied,mobile tags A and/or B can be configured to assert alarms. The alarmscan be audible alarms, illuminating alarms (e.g., flashing coloredlight) or a combination thereof. Additionally, the embodiments depictedby FIG. 14B can be reversed in which mobile tag B is the one originatingthe announcement signal and mobile tag A calculates its location and/ororientation relative to mobile tag B as described above, and shares thesame with mobile tag B.

FIG. 14C depicts an adaptation to the embodiments of FIG. 14B. Inparticular, mobile tag B can be configured to transmit in response tothe announcement signal a range ready-to-send (RNG-RTS) signal usingnarrow band signaling technology such as Bluetooth. The RNG-RTS signalcan include timing information that indicates when mobile tag B willtransmit the R-REQ signal. By knowing this timing, mobile tag A cansubstantially reduce the ranging RX window (which saves battery life ofmobile tag A) by knowing the arrival time of the R-REQ signal and apredetermined time for receiving the R-RPT signal. If an R-RPT signal isnot expected, mobile tag A can shorten the ranging RX window evenfurther and thereby further improve battery life. The location and/ororientation measurements can be performed by mobile tag B as previouslydescribed in relation to FIG. 14B.

FIG. 14D depicts an adaptation to the embodiments of FIGS. 14B-14C. Inthis illustration, mobile tag A can be configured to transmit inresponse to the RNG-RTS signal a ranging clear-to-send (RNG-CTS) signalusing narrow band signaling technology such as Bluetooth. The RNG- CTSsignal can include timing information that indicates when mobile tag Bshould transmit the R-REQ signal. In this embodiment, mobile tag A cancontrol the initial transmission time of the R-REQ signal therebyenabling mobile tag A to limit the size of the ranging RX window, reducecurrent draw from the ultra-wideband transceiver and thereby improvebattery life of mobile tag A. The previously described embodiments ofFIGS. 14B-14C are applicable to FIG. 14D for performing location and/ororientation measurements by mobile tag B and sharing such informationwith mobile tag A via the R-RPT signal.

FIG. 14E temporally depicts illustrations of peer-to-peer communicationsbetween mobile tags based on transmission and reception intervals forachieving the embodiments described in relation to FIGS. 14A-14D. Eachmobile tag is equipped with two radios (radio-1 540 and radio-2 542).Radio-1 540 is configured to transmit and receive Bluetooth signals,while radio-2 542 is configured to transmit and receive ultra-widebandsignals. Since Bluetooth signals are narrow band signals, Bluetoothoperations expend less power than ultra-wideband signals. Accordingly,utilizing a Bluetooth radio, when possible, can extend battery life ofthe mobile tags. FIG. 14E also depicts components of the peer-to-peersuper-frame 530 previously describe in FIG. 12 for performingpeer-to-peer range measurements 544. As described in FIG. 12 ,peer-to-peer sub-frames 520 can be combined with the network sub-frame528 to form a peer-to-peer super-frame 530, which enables a mobile tag201 to perform peer-to-peer range measurements with other mobile tags201 while monitoring for a presence of network anchors (not shown inFIG. 14E) that can trigger a process for transitioning a networkcommunications mode as will be described further in method 600 of FIG.17 .

FIG. 15 is a block diagram illustrating an exemplary, non-limitingembodiment of capabilities of a mobile tag 201 to determine its locationin a network of anchors providing location services in accordance withvarious aspects described herein. In the illustration of FIG. 15 , amobile tag 201 located in the network 501 of anchors 204 and operatingin a network communications mode (i.e., exclusively performing rangingmeasurements with anchors 204) can determine its relative position toanother mobile tag 201 and based on a history of positions (P_(n-1) toP_(n)) its angular trajectory relative to the other mobile tag 201. Suchangular trajectory can be used to assert alarms to avoid collisions,enforce social distancing, and/or other policies set by an administratorof the mobile tags 201 and/or network 501 of anchors 204.

FIG. 16 is a block diagram illustrating an exemplary, non-limitingembodiment of capabilities of a mobile tag 201 to determine its locationutilizing peer-to-peer communications with other mobile tags 201 inaccordance with various aspects described herein. In the illustration ofFIG. 16 , the mobile tag 201 is limited to determining its relativelocation to another mobile tag 201 without trajectory information orangular orientation. In an alternative embodiment, the mobile tag 201can perform the functions described in FIG. 15 with instrumentation suchas one or more accelerometers, one or more gyroscopes, and/or amagnetometer. With such instrumentation, a mobile tag 201 can utilize asa reference point a last known location of the mobile tag 201 while inthe network 501 of anchors 204 and determine thereafter utilizing theinstrumentation a history of positions (P_(n-1) to P_(n)) and itsangular trajectory relative to another mobile tag 201 utilizing similarinstrumentation.

FIG. 17 depicts an illustrative embodiment of a method 600 fortransitioning between modes of communications; particularly,peer-to-peer communications mode and network communications mode inaccordance with various aspects described herein. Method 600 can beginwith step 602 where a mobile tag can be configured to monitor a beaconsignal while in a peer-to-peer communications mode utilizing, forexample, the peer-to-peer super-frame 530 (and corresponding networksub-frame 528) shown in FIG. 12 . As noted earlier, the peer-to-peercommunication mode may be invoked when the mobile tag 201 transitionsout of the coverage area of the network 501 of anchors 204 into an openspace 503 or when the mobile tag 201 is located in the network 501 in anarea that lacks coverage from anchors 204, which causes the mobile tag201 to resort to the embodiment described in relation to FIG. 13 .

Upon detecting a beacon signal at step 604 while in a peer-to-peercommunications mode, the mobile tag 201 can proceed to step 606 where itdetermines if a threshold of instances of a beacon signal has beensatisfied (e.g., a threshold set to greater than 2 consecutive beaconsignals). If the threshold is not satisfied, the mobile tag 201 can beconfigured to return to step 602 and continue the monitoring process. Ifthe threshold is satisfied, the mobile tag 201 can be configured at step608 to synchronize its clock to the network frame 509 of FIG. 11utilizing one or more instances of the beacon signal. In an embodiment,synchronization can take place during one or more instances of thesynchronization period 512. Once synchronized, the mobile tag 201 canproceed to step 610 to determine if there is sufficient coverage in thenetwork 201 to transition to a network communications mode (i.e.,performing ranging measurements exclusively with the assistance of oneor more anchors 204).

In one embodiment, the coverage determination of step 610 can beperformed by the mobile tag 201 by comparing its location to a look-uptable (or database) of sub-coverage areas in the network 501 (not shownin FIG. 10 ). If the mobile tag 201 has instrumentation to reasonablydetermine where it is located within the network 501, such locationinformation may be sufficient for the mobile tag 201 to determine from alook-up table (or database) whether it is in an area of the network 501where it has sufficient access to anchors 204 to safely transition to anetwork communications mode, or whether it should transition to anadjusted peer-to-peer communications mode as depicted FIG. 13 . Thelook-up table (or database) can be provided by one or more anchors at aprevious time when the mobile tag 201 was located in the network 501 andoperating in a network communications mode or from another source (e.g.,mobile tag 201 paired with a communication device such as a smartphonethat can communication with a server of the network 501 via a cellularnetwork or other communication means). In another embodiment, the mobiletag 201 can be configured to receive one or more messages from one ormore anchors 204 transmitting its location in the network 501, which themobile tag 201 can then compare to the look-up table (or database) todetermine if it is in a location that supports a safe transition to anetwork communications mode. In another embodiment, the mobile tag 201may receive one or more messages from one or more anchors 204 in thenetwork 501 during the CFP period, which the mobile tag 201 can use todetermine if it is able to transition to a network communications modebased on the number of messages and/or quality of the received messagesfrom anchors 204 in the network 501 during the CFP period. For example,the quality of messages can be determined from a number of consecutivereceived messages exceeding a signal strength threshold. Suchmeasurements can enable a mobile tag 201 to determine if there issufficient (or insufficient) coverage in the network 501 of anchors 204to transition from peer-to-peer communications to network communicationsor remain in peer-to-peer communications but operate in the mode shownin FIG. 13 .

If the mobile tag 201 detects at step 610 that there is insufficientcoverage in the network 501 relative to its current location totransition to a network communications mode, then the mobile tag 201 canproceed to step 612 where the mobile tag 201 can transition from apeer-to-peer communications mode as depicted in FIG. 12 to an adjustedpeer-to-peer communications mode as shown in FIG. 13 (or maintain thisadjusted communications mode if the mobile tag 201 had alreadypreviously implemented step 612). Alternatively, if the mobile tag 201detects at step 610 that there is sufficient coverage to transition to anetwork communications mode, the mobile tag 201 can transition from apeer-to-peer communications mode as depicted in FIG. 12 to a networkcommunications mode depicted by FIG. 11 where it performs rangingmeasurements exclusively with the assistance of anchors 204 of thenetwork 501.

Once the transition from a peer-to-peer communications mode to a networkcommunications mode occurs at step 614, the mobile tag 201 can beconfigured to monitor a lack of a presence of a beacon signal generatedby the anchors 204 of the network 501. If the number of instances wherethe mobile tag 201 detects a lack of a beacon signal satisfies athreshold (greater than 2 consecutive lost beacon signals), the mobiletag 201 can transition to step 618 where it transitions from a networkcommunications mode as depicted in FIG. 11 to a peer-to-peercommunications mode as depicted by FIG. 12 , and begins to monitor atstep 602 for a presence of a beacon signal to transition back to thenetwork communications mode once the instances of beacon signalssatisfies the threshold of step 606 as previously described. If no lostbeacon signals are detected at step 616, the mobile tag 201 can proceedto step 610 to determine if there's sufficient coverage to remain in thenetwork communications mode at step 614. If the mobile tag 201determines at step 616 that there is insufficient coverage, then themobile tag 201 can proceed to step 612 and perform peer-to-peercommunication as previously described above.

While for purposes of simplicity of explanation, the respectiveprocesses are shown and described as a series of blocks in FIG. 17 , itis to be understood and appreciated that the claimed subject matter isnot limited by the order of the blocks, as some blocks may occur indifferent orders and/or concurrently with other blocks from what isdepicted and described herein. Moreover, not all illustrated blocks maybe required to implement the methods described herein.

FIG. 18 is a block diagram of an example, non-limiting embodiments of acommunication device 700 in accordance with various aspects describedherein. Communication device 700 can serve in whole or in part as anillustrative embodiment of a mobile tag 101, 201 and an anchor 102, 104,106, 108, 204 as depicted in FIGS. 1-7 , and can be configured toperform in whole or in part portions of methods 300 and 600 of FIGS. 8and 17 .

In an embodiment, communication device 700 can comprise a first wirelesstransceivers 701, a user interface (UI) 704, a power supply 714, and aprocessing system 706 for managing operations of the communicationdevice 700. In another embodiment, communication device 700 can furtherinclude a second wireless transceiver 702, a motion sensor 718, and anorientation sensor 720. The first wireless transceiver 701 can beconfigured to support wideband wireless signals such as ultra-widebandsignals (e.g., 500 MHz) for performing precision measurements such asTDOA and TW-TOA as described above and can be further configured forexchanging messages (e.g., x-y coordinates, location flags, etc.).

The second wireless transceiver 702 can be configured to supportwireless access technologies such as Bluetooth®, ZigBee®, or WiFi(Bluetooth® and ZigBee® are trademarks registered by the Bluetooth®Special Interest Group and the ZigBee® Alliance, respectively). Thesecond wireless transceiver 702 can be utilized to conserve power andoffload messaging between communication devices by utilizing narrow bandsignals such as Bluetooth®, ZigBee®, or WiFi, instead of ultra-widebandsignals. One or both wireless transceivers 701, 702 can also be used forobtaining a strength indicator (RSSI). One or both wireless transceivers701, 702 can also be equipped with multiple antennas and one or morephase detectors to determine angle of arrival of wireless signals andthereby an orientation of the communication device 700 (e.g., mobile tag101) relative to another communication device 700 (e.g., anchor 204).

The UI 704 can include an input device 708 that provides at least one ofone or more depressible buttons, a tactile keypad, a touch-sensitivekeypad, or a navigation mechanism such as a roller ball, a joystick, ora navigation disk for manipulating operations of the communicationdevice 700. The input device 708 can be an integral part of a housingassembly of the communication device 700 or an independent deviceoperably coupled thereto by a tethered wireline interface (such as a USBcable) or a wireless interface supporting for example Bluetooth®. The UI704 can further include a presentation device 710. The presentationdevice 710 can include a vibrator to generate haptic feedback, an LED(Light Emitting Diode) configurable by the processing system 706 to emitone or more colors, and/or a monochrome or color LCD (Liquid CrystalDisplay) or OLED (Organic LED) display configurable by the processingsystem to present alphanumeric characters, icons or other displayableobjects.

The UI 704 can also include an audio system 712 that utilizes audiotechnology for conveying low volume audio (for proximity listening by auser) and/or high volume audio (for hands free operation). The audiosystem 712 can further include a microphone for receiving audiblesignals of an end user. The audio system 712 can also be used for voicerecognition applications. The UI 704 can further include an image sensor713 such as a charged coupled device (CCD) camera for capturing still ormoving images in a vicinity of the communication device 700. The cameracan be used for performing facial recognition and user ID recognitionthat can be combined with embodiments of the subject disclosure.

The power supply 714 can utilize common power management technologiessuch as replaceable and rechargeable batteries, supply regulationtechnologies, and/or charging system technologies for supplying energyto the components of the communication device 700 to facilitate portableapplications. Alternatively, or in combination, the charging system canutilize external power sources such as DC power supplied over a physicalinterface such as a USB port or other suitable tethering technologies.

The motion sensor 718 can utilize motion sensing technology such as anaccelerometer, a gyroscope, or other suitable motion sensing technologyto detect motion of the communication device 700 in three-dimensionalspace. The orientation sensor 720 can utilize orientation sensingtechnology such as a magnetometer to detect the orientation of thecommunication device 700 (in degrees, minutes, or other suitableorientation metrics). In some embodiments, the orientation sensor 720can replace a need for utilizing multiple antennas with the first and/orsecond wireless transceivers 701, 702 and a phase detector forperforming angle of arrival measurements. In other embodiments, thefunction of the orientation sensor 720 can be combined with an angle ofarrival measurement performed with multiple antennas with the firstand/or second wireless transceivers 701, 702 and a phase detector.

The processing system 706 can utilize computing technologies such as amicroprocessor, a digital signal processor (DSP), programmable gatearrays, application specific integrated circuits (ASICs), and/or a videoprocessor with associated storage memory such as Flash, ROM, RAM, SRAM,DRAM or other storage technologies for executing computer instructions,controlling, and processing data supplied by the aforementionedcomponents of the communication device 700.

Other components not shown in FIG. 18 can be used in one or moreembodiments of the subject disclosure. For instance, the communicationdevice 700 can include a reset button (not shown). The reset button canbe used to reset the controller 706 of the communication device 700. Inyet another embodiment, the communication device 700 can also include afactory default setting button positioned, for example, below a smallhole in a housing assembly of the communication device 700 to force thecommunication device 700 to re-establish factory settings.

The communication device 700 as described herein can operate with moreor less of the circuit components shown in FIG. 18 . These variantembodiments can be used in one or more embodiments of the subjectdisclosure.

FIG. 19 depicts an exemplary diagrammatic representation of a machine inthe form of a computing system 800 within which a set of instructions,when executed, may cause the machine to perform any one or more of themethods described above. One or more instances of the machine canoperate, for example, as the computing system referred to in methods 300or 600 of FIGS. 8 and 17 . In some embodiments, the machine may beconnected (e.g., using a network 826) to other machines. In a networkeddeployment, the machine may operate in the capacity of a server or aclient user machine in a server-client user network environment, or as apeer machine in a peer-to-peer (or distributed) network environment.

The machine may comprise a server computer, a client user computer, apersonal computer (PC), a tablet, a smart phone, a laptop computer, adesktop computer, a control system, a network router, switch or bridge,or any machine capable of executing a set of instructions (sequential orotherwise) that specify actions to be taken by that machine. It will beunderstood that a communication device of the subject disclosureincludes broadly any electronic device that provides data communication.Further, while a single machine is illustrated, the term “machine” shallalso be taken to include any collection of machines (physical or virtualmachines) that individually or jointly execute a set (or multiple sets)of instructions to perform any one or more of the methods discussedherein.

The computer system 800 may include a processor (or controller) 802(e.g., a central processing unit (CPU)), a graphics processing unit(GPU, or both), a main memory 804 and a static memory 806, whichcommunicate with each other via a bus 808. The computer system 800 mayfurther include a display unit 810 (e.g., a liquid crystal display(LCD), a flat panel, or a solid state display). The computer system 800may include an input device 812 (e.g., a keyboard), a cursor controldevice 814 (e.g., a mouse), a disk drive unit 816, a signal generationdevice 818 (e.g., a speaker or remote control) and a network interfacedevice 820. In distributed environments, the embodiments described inthe subject disclosure can be adapted to utilize multiple display units810 controlled by two or more computer systems 800. In thisconfiguration, presentations described by the subject disclosure may inpart be shown in a first of the display units 810, while the remainingportion is presented in a second of the display units 810.

The disk drive unit 816 may include a tangible computer-readable storagemedium 822 on which is stored one or more sets of instructions (e.g.,software 824) embodying any one or more of the methods or functionsdescribed herein, including those methods illustrated above. Theinstructions 824 may also reside, completely or at least partially,within the main memory 804, the static memory 806, and/or within theprocessor 802 during execution thereof by the computer system 800. Themain memory 804 and the processor 802 also may constitute tangiblecomputer-readable storage media.

One or more aspects of the subject disclosure include a device thatutilizes a processing system including a processor and a memory thatstores executable instructions that, when executed by the processingsystem, facilitate performance of operations. The operations can includemonitoring a beacon signal generated by at least one anchor of aplurality of anchors located in a network, the network enabling thedevice and a plurality of other devices to determine their respectivelocations in a coverage area of the network, detecting a plurality ofinstances in which the beacon signal generated by the at least oneanchor of the plurality of anchors is not sensed by the device, andresponsive to the plurality of instances exceeding a first threshold,transitioning to peer-to-peer communications between the device and oneor more devices of the plurality of other devices, wherein thepeer-to-peer communications enables the device to determine its locationrelative to the one or more devices.

One or more aspects of the subject disclosure include a machine-readablemedium comprising executable instructions that, when executed by aprocessing system including a processor, facilitate performance ofoperations. The operations can include performing peer-to-peercommunication services to determine a location of the device relative toother devices, monitoring for a presence of a beacon signal during afinite period having a select periodicity, the beacon signal generatedby at least one anchor of a plurality of anchors located in a network,the network enabling the device and a plurality of other devices todetermine their respective locations when located in a coverage area ofthe network, detecting the presence of the beacon signal generated bythe at least one anchor of the network, extending the finite period tosynchronize a clock of the device to the beacon signal generated by theat least one anchor of the network, and responsive to the device beingsynchronized to beacon signal, determining whether to transition frompeer-to-peer communications to communications with the at least oneanchor of the plurality of anchors located in the network.

One or more aspects of the subject disclosure include a method formonitoring, by a processing system including a processor operating froma device, a synchronization signal generated by at least one anchor of aplurality of anchors located in a network, the network enabling thedevice and a plurality of other devices to determine their respectivelocations in a coverage area of the network; detecting, by theprocessing system, an inability to sense the synchronization signalgenerated by the at least one anchor of the plurality of anchors for anumber of frames, each frame including an instance of thesynchronization signal; and responsive to the detecting, configuring, bythe processing system, the device to transition to peer-to-peercommunications between the device and one or more devices of theplurality of other devices, wherein the peer-to-peer communicationsenables the device to determine its location relative to the one or moredevices.

Dedicated hardware implementations including, but not limited to,application specific integrated circuits, programmable logic arrays andother hardware devices can likewise be constructed to implement themethods described herein. Application specific integrated circuits andprogrammable logic array can use downloadable instructions for executingstate machines and/or circuit configurations to implement embodiments ofthe subject disclosure. Applications that may include the apparatus andsystems of various embodiments broadly include a variety of electronicand computer systems. Some embodiments implement functions in two ormore specific interconnected hardware modules or devices with relatedcontrol and data signals communicated between and through the modules,or as portions of an application-specific integrated circuit. Thus, theexample system is applicable to software, firmware, and hardwareimplementations.

In accordance with various embodiments of the subject disclosure, theoperations or methods described herein are intended for operation assoftware programs or instructions running on or executed by a computerprocessor or other computing device, and which may include other formsof instructions manifested as a state machine implemented with logiccomponents in an application specific integrated circuit or fieldprogrammable gate array. Furthermore, software implementations (e.g.,software programs, instructions, etc.) including, but not limited to,distributed processing or component/object distributed processing,parallel processing, or virtual machine processing can also beconstructed to implement the methods described herein. Distributedprocessing environments can include multiple processors in a singlemachine, single processors in multiple machines, and/or multipleprocessors in multiple machines. It is further noted that a computingdevice such as a processor, a controller, a state machine or othersuitable device for executing instructions to perform operations ormethods may perform such operations directly or indirectly by way of oneor more intermediate devices directed by the computing device.

While the tangible computer-readable storage medium 822 is shown in anexample embodiment to be a single medium, the term “tangiblecomputer-readable storage medium” should be taken to include a singlemedium or multiple media (e.g., a centralized or distributed database,and/or associated caches and servers) that store the one or more sets ofinstructions. The term “tangible computer-readable storage medium” shallalso be taken to include any non-transitory medium that is capable ofstoring or encoding a set of instructions for execution by the machineand that cause the machine to perform any one or more of the methods ofthe subject disclosure. The term “non-transitory” as in a non-transitorycomputer-readable storage includes without limitation memories, drives,devices and anything tangible but not a signal per se.

The term “tangible computer-readable storage medium” shall accordinglybe taken to include, but not be limited to: solid-state memories such asa memory card or other package that houses one or more read-only(non-volatile) memories, random access memories, or other re-writable(volatile) memories, a magneto-optical or optical medium such as a diskor tape, or other tangible media which can be used to store information.Accordingly, the disclosure is considered to include any one or more ofa tangible computer-readable storage medium, as listed herein andincluding art-recognized equivalents and successor media, in which thesoftware implementations herein are stored.

FIGS. 20A-22B are block diagrams illustrating exemplary, non-limitingembodiments for communications utilized for location services for mobiletags, such as based on ranging block and round concepts. For example, acentralized control (such as scheduling) can be used to coordinateDL-TDOA transmissions in a large-scale network. As another example, acontroller can be a server and a controlee can be anchor(s). As anotherexample, an initiator can be a source anchor such as one sending a REQmessage while a responder can be a destination anchor such as onesending an RSP message. The provisioning of the schedule by the serverto the anchor(s) and/or mobile tag(s) can be via various techniquesincluding utilizing wireless communications, and/or hardwirecommunications.

As an example as illustrated in FIG. 20A, a portion of a system 900 caninclude any number of anchor pairs 902A, 902B (only two of which areshown), where anchor 902A sends a first message (REQ) and anchor 902Bresponds thereto with a second message (RSP). A tag or mobile device901M in the coverage area overhears or otherwise receives both REQ andRSP messages. A TDOA measurement can then be made according to thereceived REQ and RSP messages. In one embodiment, this can be a DL-TDOAprocedure which operates as one TW-TOA ranging procedure between anchor902A and 902B. In one embodiment in a network, only a fixed number ofanchor pairs may be scheduled so only a fixed number of ranging isneeded or otherwise performed.

As an example as illustrated in FIG. 20B (see e.g., FIG. 6-48 of IEEE802.15.4z), an example ranging block structure 925 or portion thereoffor ranging block, ranging round and ranging slot can be implementedinto a schedule or superframe structure such as with respect to anchorpairs of the system 900. As described herein the schedule or portionthereof (which can include ranging block structure 925) can be deliveredor otherwise provisioned in a number of different ways including by acentralized technique such as through use of a server. However, otherschedule, ranging block or superframe configurations could also beutilized. Based on the messaging being performed by the various anchorpairs of the system 900, one or more tags or mobile devices can receiveboth REQ and RSP messages, and a TDOA measurement can then be madeaccording to the received REQ and RSP messages.

For instance, the ranging block structure 925 can be generated for agroup of anchors operating as controlees in a location system that isutilized for determining position information for one or more mobiledevices; and the ranging block structure 925 can be provisioned to thegroup of anchors (e.g. by a server) to cause anchor pairs of the groupof anchors to wirelessly transmit REQ messages and RSP messages to eachother according to the schedule operating as an initiator and aresponder, respectively. In this example, the one or more mobile deviceswould also receive the REQ messages and RSP messages being transmittedbetween the anchor pairs, and a TDOA measurement can be calculated(e.g., by the one or more mobile devices and/or by another device thatis forwarded the information) based on the REQ messages and RSPmessages. In one embodiment, the ranging block structure 925 is part ofa superframe structure which includes a beacon period, a ranging block,and a contention period. In one embodiment, the ranging block structure925 includes one or more ranging blocks which each comprise rangingrounds. In one embodiment, each of the ranging rounds can include only apair of ranging slots for transmitting a pair of REQ and RSP messagesbetween a corresponding anchor pair. In another embodiment, each of theranging rounds can include more than two ranging slots. In oneembodiment, the superframe structure comprises a sync period between thebeacon period and the ranging block. In one embodiment, the superframestructure and/or the ranging block structure 925 can also be provisionedto the one or more mobile devices. In one embodiment, anchor pairs canbe determined or otherwise selected based at least in part on anchorlocations, where the anchor locations are known by a server and by oneor more mobile devices. In one embodiment, the one or more mobiledevices can include different device types, such as a personal ID, amanually-controlled vehicle, and so forth.

As an example as illustrated in FIG. 21A, a network 1000 can providelocation services to mobile devices in its coverage area. The network1000 can be various types of networks that are capable of wirelesscommunications, including a WPAN. A selection of SyncDistributors canenable any radio device in the network to hear one or more beacons fromthe SyncDistributors. In one embodiment, a radio device uses theinformation in the beacon(s) to adjust a local system clock, as setforth in more detail in U.S. application Ser. No. 17/181,286 filed onFeb. 22, 2021, the disclosure of which is hereby incorporated byreference herein.

Network 1000 can include a coordinator/server 1030 and a group of radiodevices (identified by numbers 1 through 14), which can be anchors,mobile devices and so forth. In one embodiment, the radio devices in thenetwork 1000 are anchors. In another embodiment, where mobile device(s)operate as anchors, then the radio devices can include those particularmobile device(s). In one or more embodiments, the coordinator/server1030 can communicate with a subset of the radio devices via a gateway1020, which is being illustrated as a bridge. Network 1000 can enableSyncDistributors and other radio devices to be selected in accordancewith various aspects described herein and in U.S. application Ser. No.17/181,286. In this example, radio devices 1, 2, 4, 7, 10 and 12 can beon the SyncDistributor list, and the remaining radio devices 3, 5, 6, 8,9, 11, 13 and 14 are not. The numbers on each link illustrate a metricof link quality. In one embodiment, a schedule can be distributed to theanchors from the coordinator/server (e.g., via the gateway 1020) invarious fashions including daisy-chain, where the gateway onlypropagates the schedule to a subset of the anchors which in turnpropagate to other anchors and so forth until all anchors received theschedule. Other techniques for provisioning of the anchors can also beutilized including direct transmissions from the gateway 1020 and/orcoordinator/server 1030 to each of the anchors.

As illustrated in this example, a mobile device 1001M can overheartransmissions or messaging between radio device pairs, such as a firstpair 1002A (e.g., anchors 7 and 12) and a second pair 1002B (e.g.,anchors 8 and 13). These transmissions can then be utilized to calculatea TDOA measurement.

In one embodiment, beacon signals overheard or otherwise received by amobile device(s) can be used for synchronizing the mobile device(s)'sclock to the network and may or may not be utilized TDOA measurements.In another embodiment, beacon signals overheard or otherwise received bya mobile device(s) can also be used for TDOA measurements.

As another example, network 1000 (e.g., utilizing the coordinator/server1030 such as via the gateway 1020) can: determine complete neighborinformation for a plurality of radio devices in a wireless network,where the complete neighbor information denotes neighboring radiodevices; include a first radio device of the plurality of radio devicesin a list of radio devices for delivering beacons; determine a set ofradio devices in the plurality of radio devices that are not neighboringradio devices of every radio device in the list of radio devices;responsive to an existence of at least one radio device in the set, addan additional radio device from the plurality of radio devices to thelist of radio devices, where the additional radio device has at leastone neighboring radio device in the list of radio devices and has atleast one neighboring radio device in the set; and repeating thedetermining the set step and the adding step until the set is empty.

In one embodiment, the network 1000 can include any number of anchorpairs (e.g., anchors illustrated as 1 through 14), such as anchor pair1002A and anchor pair 1002B. The anchors can operate as SyncDistributorsand SyncClients, which can be independent of their roles as anchorpairs. In one embodiment, the coordinator/server 1030 (or a group ofservers or other computing control system) can be utilized to facilitatemanagement of the location services for any number of mobile devices ortags 1001M (only one of which is shown).

FIG. 21B is a block diagram illustrating an exemplary, non-limitingembodiment of a network frame 1100 that can be utilized by a network inaccordance with various aspects described herein. The network frame 1100can be broken into various portions such as beacon period, sync period,a contention-free period (e.g., DL-TDOA messaging), a contention period,and an end period 518. For instance, the beacons can be generated byanchors to provide anchors and mobile tags a means for synchronization.

The CFP portion of the frame 1100 supports DL-TDOA ranging packets wherethe CFP portion can operate as follows: the ranging block can operate asthe DL-TDOA period; the ranging round can operate as a DL-TDOA slot; andthe ranging slot can operate as the period to transmit REQ or RSPmessages. A ranging round may have two ranging slots if there is onlyone RSP message corresponding to a REQ message. A ranging round may havemore than two ranging slots if there are multiple RSP messages (e.g.,from different anchors) corresponding to a REQ message. As illustratedin FIG. 21C, each of the DL-TDOA slots for an anchor pair can be brokeninto a data preparing portion, a ranging request, and a rangingresponse, where the data preparing portion is in the transmission offsetportion in FIG. 21B; the ranging request (REQ) is in the ranging slot 0in FIG. 21B; and the ranging response (RSP) is in the ranging slot 1 inFIG. 21B.

In one embodiment, the CP portion of the frame 1100 can support UL-TDOA,TW-TOA ranging packets and additional data packets/control signalingpackets, and can be subject to simultaneous transmissions that in turnmay interfere with each other.

In one or more embodiments, multi-node ranging can be performed wherebya data frame(s) can be utilized that conveys ranging parameters tocontrol and configure aspects of ranging procedures such as a timeslotstructure (e.g., shown in FIG. 20B and/or 21B), ranging method(s),and/or packet configuration(s).

In one or more embodiments, multi-node ranging can be performed thatcomplies with and/or is based at least in part on one or more proceduresand functions described in IEEE 802.15.4z which defines and/or discussesranging block and rounds in multi-node ranging modes.

In one or more embodiments, ranging block and rounds can be defined on aserver (or more than one server) and sent to corresponding anchors. Inthese examples, the server(s) would operate as a controller, while theanchors would operate as controlees. Further to these examples, a sourceanchor (e.g., sending REQ message) would operate as an initiator while adestination anchor (e.g., sending RSP) would operate as a responder.

In one or more embodiments, a particular control scheme can beimplemented. As an example as illustrated in FIG. 22A, a portion of anetwork 1200 can include a server (e.g., controller) which can provisionor otherwise provide a schedule(s) to a group of anchors (e.g.,controlees) where some of those anchors will operate as initiators thattransmit the REQ message while other anchors operate as responders thattransmit the RSP message (in response to the REQ message).

In this example, a CFP period structure can be based on ranging blockand round concepts, however, in network 1200, the centralized control(scheduling) provided by server 1220 is used to coordinate DL-TDOAtransmissions in a large-scale network. This can be compared to thetechnique depicted in FIG. 22B which shows ranging controller,controlee, initiator and responder discussed in IEEE 802.15.4z. Theranging block and round concept in FIG. 22B is from multi-node rangingwhich is originally for a local group of devices to organize (two-way)ranging among these devices, and therefore the communication and controlmodel is different from the exemplary embodiment of network 1200 usedfor DL-TDOA support. In one embodiment, all or a portion of the devicesin FIG. 22B (e.g., controller devices) can be provisioned with aschedule, such as schedule/frame 1100, by a centralized server. In oneor more embodiments, DL-TDOA or CFP period (to tags/mobile devices) canfunction as a ranging block that provides two-way rangings betweenselected and scheduled anchors.

The embodiments of FIGS. 20A-22B can utilize one or more functionsand/or devices as described with respect to FIGS. 1-19 , including inaddition to or in place of the one or more functions and/or devices asdescribed with respect to FIGS. 20A-22B.

Although the present specification describes components and functionsimplemented in the embodiments with reference to particular standardsand protocols, the disclosure is not limited to such standards andprotocols. Each of the standards for Internet and other packet switchednetwork transmission (e.g., TCP/IP, UDP/IP, HTML, HTTP) representexamples of the state of the art. Such standards are from time-to-timesuperseded by faster or more efficient equivalents having essentiallythe same functions. In one or more embodiments, information regardinguse of services can be generated including services being accessed,media consumption history, user preferences, and so forth. Thisinformation can be obtained by various methods including user input,detecting types of communications (e.g., video content vs. audiocontent), analysis of content streams, and so forth. The generating,obtaining and/or monitoring of this information can be responsive to anauthorization provided by the user. In one or more embodiments, ananalysis of data can be subject to authorization from user(s) associatedwith the data, such as an opt-in, an opt-out, acknowledgementrequirements, notifications, selective authorization based on types ofdata, and so forth.

The illustrations of embodiments described herein are intended toprovide a general understanding of the structure of various embodiments,and they are not intended to serve as a complete description of all theelements and features of apparatus and systems that might make use ofthe structures described herein. Many other embodiments will be apparentto those of skill in the art upon reviewing the above description. Theexemplary embodiments can include combinations of features and/or stepsfrom multiple embodiments. Other embodiments may be utilized and derivedtherefrom, such that structural and logical substitutions and changesmay be made without departing from the scope of this disclosure. Figuresare also merely representational and may not be drawn to scale. Certainproportions thereof may be exaggerated, while others may be minimizedAccordingly, the specification and drawings are to be regarded in anillustrative rather than a restrictive sense.

Although specific embodiments have been illustrated and describedherein, it should be appreciated that any arrangement which achieves thesame or similar purpose may be substituted for the embodiments describedor shown by the subject disclosure. The subject disclosure is intendedto cover any and all adaptations or variations of various embodiments.Combinations of the above embodiments, and other embodiments notspecifically described herein, can be used in the subject disclosure.For instance, one or more features from one or more embodiments can becombined with one or more features of one or more other embodiments. Inone or more embodiments, features that are positively recited can alsobe negatively recited and excluded from the embodiment with or withoutreplacement by another structural and/or functional feature. The stepsor functions described with respect to the embodiments of the subjectdisclosure can be performed in any order. The steps or functionsdescribed with respect to the embodiments of the subject disclosure canbe performed alone or in combination with other steps or functions ofthe subject disclosure, as well as from other embodiments or from othersteps that have not been described in the subject disclosure. Further,more than or less than all of the features described with respect to anembodiment can also be utilized.

Less than all of the steps or functions described with respect to theexemplary processes or methods can also be performed in one or more ofthe exemplary embodiments. Further, the use of numerical terms todescribe a device, component, step or function, such as first, second,third, and so forth, is not intended to describe an order or functionunless expressly stated so. The use of the terms first, second, thirdand so forth, is generally to distinguish between devices, components,steps or functions unless expressly stated otherwise. Additionally, oneor more devices or components described with respect to the exemplaryembodiments can facilitate one or more functions, where the facilitating(e.g., facilitating access or facilitating establishing a connection)can include less than every step needed to perform the function or caninclude all of the steps needed to perform the function.

The Abstract of the Disclosure is provided with the understanding thatit will not be used to interpret or limit the scope or meaning of theclaims. In addition, in the foregoing Detailed Description, it can beseen that various features are grouped together in a single embodimentfor the purpose of streamlining the disclosure. This method ofdisclosure is not to be interpreted as reflecting an intention that theclaimed embodiments require more features than are expressly recited ineach claim. Rather, as the following claims reflect, inventive subjectmatter lies in less than all features of a single disclosed embodiment.Thus the following claims are hereby incorporated into the DetailedDescription, with each claim standing on its own as a separately claimedsubject matter.

What is claimed is:
 1. A server, comprising: a processing systemincluding a processor; and a memory that stores executable instructionsthat, when executed by the processing system, facilitate performance ofoperations, the operations comprising: generating a schedule for a groupof anchors operating as controlees in a location system that is utilizedfor determining position information for one or more mobile devices,wherein the schedule is applied in a ranging block; and provisioning theschedule to the group of anchors to cause anchor pairs of the group ofanchors to wirelessly transmit REQ messages and RSP messages to eachother according to the schedule operating as an initiator and aresponder, respectively, in the ranging block, wherein the one or moremobile devices also receive the REQ messages and RSP messages beingtransmitted between the anchor pairs and calculate a TDOA measurementbased on the REQ messages and RSP messages.
 2. The server of claim 1,wherein at least one of the one or more mobile devices calculatesanother TDOA measurement based on beacon signals.
 3. The server of claim1, wherein the ranging block is part of a superframe structurecomprising a beacon period and a contention period and wherein theranging block of the superframe structure comprises ranging rounds. 4.The server of claim 3, wherein each of the ranging rounds includes apair of ranging slots for transmitting a pair of REQ and RSP messagesbetween a corresponding anchor pair.
 5. The server of claim 4, whereinthe superframe structure comprises a sync period between the beaconperiod and the ranging block.
 6. The server of claim 1, wherein theoperations further comprise provisioning the schedule to the one or moremobile devices.
 7. The server of claim 1, wherein the operations furthercomprise determining the anchor pairs based at least in part on anchorlocations, wherein the anchor locations are known by the server and bythe one or more mobile devices.
 8. The server of claim 1, wherein theone or more mobile devices include different device types comprising apersonal ID and a manually-controlled vehicle.
 9. A non-transitorymachine-readable medium comprising executable instructions that, whenexecuted by a processing system including a processor operating from amobile device, facilitate performance of operations, the operationscomprising: obtaining REQ messages and RSP messages being wirelesslytransmitted between anchor pairs of a group of anchors according to aschedule that is generated by and provisioned by a server to the groupof anchors, wherein the anchor pairs operate as an initiator and aresponder, respectively, in a location system, and wherein the scheduleis for a ranging block; and calculating a TDOA measurement based on theREQ messages and RSP messages.
 10. The non-transitory machine-readablemedium of claim 9, wherein at least one mobile device calculates anotherTDOA measurement based on beacon signals.
 11. The non-transitorymachine-readable medium of claim 9, wherein the ranging block is part ofa superframe structure comprising a beacon period and a contentionperiod, wherein transmitting the REQ messages and the RSP messages isduring the ranging block, wherein the ranging block of the superframestructure comprises ranging rounds, and wherein each of the rangingrounds includes a pair of ranging slots for transmitting a pair of REQand RSP messages between a corresponding anchor pair.
 12. Thenon-transitory machine-readable medium of claim 11, wherein thesuperframe structure comprises a sync period between the beacon periodand the ranging block.
 13. The non-transitory machine-readable medium ofclaim 9, wherein the operations further comprise receiving the schedulefrom the server.
 14. The non-transitory machine-readable medium of claim9, wherein the operations further comprise storing anchor locations forthe anchor pairs.
 15. A method comprising: generating, by a serveroperating as a controller in a locating system, a schedule for a groupof anchors operating as controlees in the location system that isutilized for determining position information for one or more mobiledevices, wherein the schedule is for a ranging block; and provisioning,by the server, the schedule to the group of anchors to cause anchorpairs of the group of anchors to wirelessly transmit REQ messages andRSP messages to each other according to the schedule operating as aninitiator and a responder, respectively, wherein the one or more mobiledevices overhear the REQ messages and RSP messages being transmittedbetween the anchor pairs and calculate a TDOA measurement based on theREQ messages and RSP messages.
 16. The method of claim 15, wherein atleast one of the one or more mobile devices calculates another TDOAmeasurement based on beacon signals.
 17. The method of claim 15, whereinthe ranging block is part of a superframe structure comprising a beaconperiod and a contention period, wherein transmitting the REQ messagesand the RSP messages is during the ranging block, wherein the rangingblock of the superframe structure comprises ranging rounds, and whereineach of the ranging rounds includes a pair of ranging slots fortransmitting a pair of REQ and RSP messages between a correspondinganchor pair.
 18. The method of claim 17, wherein the superframestructure comprises a sync period between the beacon period and theranging block.
 19. The method of claim 15, wherein the operationsfurther comprise provisioning the schedule to the one or more mobiledevices.
 20. The method of claim 15, further comprising: determining theanchor pairs based at least in part on anchor locations, wherein theanchor locations are known by the server and by the one or more mobiledevices.